From 450aef86f7f941da772afe00c4ba0b6131178af6 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Tue, 7 Jun 2011 15:01:39 +0000
Subject: [PATCH] Added rawImageSizeCaptured parameter for Usb source device

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@63 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 corelib/WebcamCapture/main.cpp                | 20 +++++++------
 corelib/include/rtabmap/core/Camera.h         |  1 +
 corelib/src/Camera.cpp                        |  3 +-
 .../include/rtabmap/gui/PreferencesDialog.h   |  1 +
 guilib/src/MainWindow.cpp                     |  1 +
 guilib/src/PreferencesDialog.cpp              |  7 +++++
 guilib/src/ui/preferencesDialog.ui            | 29 ++++++++++++++++---
 7 files changed, 48 insertions(+), 14 deletions(-)

diff --git a/corelib/WebcamCapture/main.cpp b/corelib/WebcamCapture/main.cpp
index 98d54189..848c51fc 100644
--- a/corelib/WebcamCapture/main.cpp
+++ b/corelib/WebcamCapture/main.cpp
@@ -37,10 +37,11 @@ void showUsage()
 			"   -device #:			Id of the webcam (default 0)\n"
 			"   -width #:			Image width (default 640)\n"
 			"   -height #:			Image height (default 480)\n"
+			"   -rawSize            Resize image after capturing the with default size\n"
 			"   -fps #.#:			Frame rate (Hz) (default 2.0)\n"
-			"   -show bool:			Image shown while capturing (default true)\n"
+			"   -hide :			    Image not shown while capturing (default true)\n"
 			"   -dir \"path\":		Path of the images saved (default \"./imagesCaptured\")\n"
-			"   -save bool:			Save images captured (default true)\n"
+			"   -save :			    Save images captured (default true)\n"
 			"   -startId #:			Image id to start with (default 1)\n"
 			"   -ext \"ext\":		Image extension (default \"jpg\")\n"
 			"   -debug:				Debug trace\n");
@@ -121,10 +122,11 @@ int main(int argc, char * argv[])
 	int usbDevice = 0;
 	int imageWidth = 640;
 	int imageHeight = 480;
+	bool rawSize = false;
 	float imageRate = 2.0;
 	int startId = 1;
 	std::string extension = "jpg";
-	bool save = true;
+	bool save = false;
 	std::string targetDirectory = UDirectory::currentDir(true) + "imagesCaptured";
 
 	for(int i=1; i<argc; ++i)
@@ -176,10 +178,9 @@ int main(int argc, char * argv[])
 			++i;
 		}
 
-		if(strcmp(argv[i], "-show") == 0 && i+1<argc)
+		if(strcmp(argv[i], "-hide") == 0 && i+1<argc)
 		{
-			show = uStr2Bool(argv[i+1]);
-			++i;
+			show = false;
 		}
 
 		if(strcmp(argv[i], "-dir") == 0 && i+1<argc)
@@ -190,8 +191,7 @@ int main(int argc, char * argv[])
 
 		if(strcmp(argv[i], "-save") == 0 && i+1<argc)
 		{
-			save = uStr2Bool(argv[i+1]);
-			++i;
+			save = true;
 		}
 		
 		if(strcmp(argv[i], "-debug") == 0)
@@ -217,6 +217,7 @@ int main(int argc, char * argv[])
 		   "   device=%d\n"
 		   "   width=%d\n"
 		   "   height=%d\n"
+		   "   rawSize=%d\n"
 		   "   hz=%f\n"
 		   "   show=%s\n"
 		   "   dir=%s\n"
@@ -226,6 +227,7 @@ int main(int argc, char * argv[])
 		   usbDevice, 
 		   imageWidth, 
 		   imageHeight, 
+		   uBool2str(rawSize).c_str(),
 		   imageRate, 
 		   uBool2str(show).c_str(), 
 		   targetDirectory.c_str(),
@@ -235,7 +237,7 @@ int main(int argc, char * argv[])
 
 	UDirectory::makeDir(targetDirectory);
 
-	rtabmap::CameraVideo cam(usbDevice, imageWidth, imageHeight, false, imageRate);
+	rtabmap::CameraVideo cam(usbDevice, rawSize, imageRate, false, imageWidth, imageHeight);
 	if(!cam.init())
 	{
 		printf("Can't initialize the camera...\n");
diff --git a/corelib/include/rtabmap/core/Camera.h b/corelib/include/rtabmap/core/Camera.h
index b5cd2d84..6d195dd9 100644
--- a/corelib/include/rtabmap/core/Camera.h
+++ b/corelib/include/rtabmap/core/Camera.h
@@ -176,6 +176,7 @@ public:
 
 public:
 	CameraVideo(int usbDevice = 0,
+			bool rawImageSizeCaptured = false,
 			float imageRate = 0,
 			bool autoRestart = false,
 			unsigned int imageWidth = 0,
diff --git a/corelib/src/Camera.cpp b/corelib/src/Camera.cpp
index b1bc5932..911ac090 100644
--- a/corelib/src/Camera.cpp
+++ b/corelib/src/Camera.cpp
@@ -438,10 +438,11 @@ IplImage * CameraImages::takeImage()
 // CameraVideo
 /////////////////////////
 CameraVideo::CameraVideo(int usbDevice,
+						 bool rawImageSizeCaptured,
 						 float imageRate,
 						 bool autoRestart,
 						 unsigned int imageWidth,
-						  unsigned int imageHeight) :
+						 unsigned int imageHeight) :
 	Camera(imageRate, autoRestart, imageWidth, imageHeight),
 	_capture(0),
 	_src(kUsbDevice),
diff --git a/guilib/include/rtabmap/gui/PreferencesDialog.h b/guilib/include/rtabmap/gui/PreferencesDialog.h
index fdc09d3b..8848d9e2 100644
--- a/guilib/include/rtabmap/gui/PreferencesDialog.h
+++ b/guilib/include/rtabmap/gui/PreferencesDialog.h
@@ -111,6 +111,7 @@ public:
 	bool getSourceImagesRefreshDir() const;	//Images group
 	QString getSourceVideoPath() const;	//Video group
 	int getSourceUsbDeviceId() const;		//UsbDevice group
+	bool isSourceUsbRawImageSizeCaptured() const; //UsbDevice group
 	QString getSourceDatabasePath() const; 			//Database group
 	bool getSourceDatabaseIgnoreChildren() const;	//Database group
 
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 97557c79..ac685ee4 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -992,6 +992,7 @@ void MainWindow::startDetection()
 	{
 		_camera = new CameraVideo(
 				_preferencesDialog->getSourceUsbDeviceId(),
+				_preferencesDialog->isSourceUsbRawImageSizeCaptured(),
 				_preferencesDialog->getGeneralImageRate(),
 				_preferencesDialog->getGeneralAutoRestart(),
 				_preferencesDialog->getSourceWidth(),
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 040e178e..412e8358 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -85,6 +85,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->general_checkBox_autoRestart, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	//usbDevice group
 	connect(_ui->source_usbDevice_spinBox_id, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->general_checkBox_rawImageSizeCaptured, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_spinBox_imgWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_spinBox_imgheight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	//images group
@@ -520,6 +521,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	//usbDevice group
 	settings.beginGroup("usbDevice");
 	_ui->source_usbDevice_spinBox_id->setValue(settings.value("id",_ui->source_usbDevice_spinBox_id->value()).toInt());
+	_ui->general_checkBox_rawImageSizeCaptured->setChecked(settings.value("rawImageSizeCaptured", _ui->general_checkBox_rawImageSizeCaptured->isChecked()).toBool());
 	settings.endGroup(); // usbDevice
 	//images group
 	settings.beginGroup("images");
@@ -659,6 +661,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
 	//usbDevice group
 	settings.beginGroup("usbDevice");
 	settings.setValue("id", 			_ui->source_usbDevice_spinBox_id->value());
+	settings.setValue("rawImageSizeCaptured", _ui->general_checkBox_rawImageSizeCaptured->isChecked());
 	settings.endGroup(); //usbDevice
 	//images group
 	settings.beginGroup("images");
@@ -1529,6 +1532,10 @@ int PreferencesDialog::getSourceUsbDeviceId() const
 {
 	return _ui->source_usbDevice_spinBox_id->value();
 }
+bool PreferencesDialog::isSourceUsbRawImageSizeCaptured() const
+{
+	return _ui->general_checkBox_rawImageSizeCaptured->isChecked();
+}
 QString PreferencesDialog::getSourceDatabasePath() const
 {
 	return _ui->source_database_lineEdit_path->text();
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 96a8cb67..884b1d5e 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -46,6 +46,9 @@
        <attribute name="headerVisible">
         <bool>false</bool>
        </attribute>
+       <attribute name="headerVisible">
+        <bool>false</bool>
+       </attribute>
       </widget>
      </item>
      <item>
@@ -65,7 +68,7 @@
           <enum>QFrame::Raised</enum>
          </property>
          <property name="currentIndex">
-          <number>0</number>
+          <number>1</number>
          </property>
          <widget class="QWidget" name="page_22">
           <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -546,7 +549,7 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
               <item>
                <widget class="QStackedWidget" name="stackedWidget_2">
                 <property name="currentIndex">
-                 <number>1</number>
+                 <number>0</number>
                 </property>
                 <widget class="QWidget" name="page_7">
                  <layout class="QVBoxLayout" name="verticalLayout_30">
@@ -576,6 +579,24 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
                        </property>
                       </widget>
                      </item>
+                     <item row="1" column="0">
+                      <widget class="QCheckBox" name="general_checkBox_rawImageSizeCaptured">
+                       <property name="text">
+                        <string/>
+                       </property>
+                      </widget>
+                     </item>
+                     <item row="1" column="1">
+                      <widget class="QLabel" name="label_13">
+                       <property name="text">
+                        <string>Raw image size captured.
+If false, the usb driver is configured with the image width/height above. If true, the image is resized after the capture.</string>
+                       </property>
+                       <property name="wordWrap">
+                        <bool>true</bool>
+                       </property>
+                      </widget>
+                     </item>
                     </layout>
                    </widget>
                   </item>
@@ -1050,8 +1071,8 @@ We can edit how will like the prediction used in the Bayes filter when there is
                     <rect>
                      <x>0</x>
                      <y>0</y>
-                     <width>518</width>
-                     <height>147</height>
+                     <width>26</width>
+                     <height>78</height>
                     </rect>
                    </property>
                    <layout class="QHBoxLayout" name="horizontalLayout_2">